Convert depth and thermal image data to RGB before sending over websockets

[iche033]

Signed-off-by: Ian Chen [email protected]

🎉 New feature

Summary

Depends on gazebosim/gz-common#205

Depth (float) and thermal camera image data (uint8_t and uint16_t) are now converted to RGB images before sending over websockets to the client side. This should be transparent to the client and no changes should be needed to display these images.

Test it

Test with sensors_demo.sdf world by using this launch file:

<?xml version='1.0'?>
<ignition version='1.0'>
  <executable name='gazebo-server'>
    <command>ign gazebo -v 4 -r sensors_demo.sdf</command>
  </executable>

  <plugin name="ignition::launch::WebsocketServer"
          filename="ignition-launch-websocket-server">
    <port>9002</port>
  </plugin>
</ignition>

1. Launch webapp
2. Go to System Admin page (need permission) -> Websockets
3. Connect to the local server
4. Check the camera topics to see the images rendered below the gz3d window

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
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